Design, modeling, and manipulability evaluation of a novel four-DOF parallel gripper for dexterous in-hand manipulation
Sign Up to like & getrecommendations! Published in 2021 at "Journal of Mechanical Science and Technology"
DOI: 10.1007/s12206-021-0636-7
Abstract: This study presents a novel four-degrees-of-freedom parallel gripper with potential application to industrial automation. The gripper adopts a parallel grasping mode on objects and can independently complete in-plane horizontal and vertical motions and in-hand twisting… read more here.
Keywords: novel four; hand manipulation; manipulability; hand ... See more keywords
Optimal grasp force for robotic grasping and in-hand manipulation with impedance control
Sign Up to like & getrecommendations! Published in 2021 at "Assembly Automation"
DOI: 10.1108/aa-11-2020-0180
Abstract: Purpose The purpose of this paper is to achieve stable grasping and dexterous in-hand manipulation, the control of the multi-fingered robotic hand is a difficult problem as the hand has many degrees of freedom with… read more here.
Keywords: control; hand; force; hand manipulation ... See more keywords
Object-Level Impedance Control for Dexterous In-Hand Manipulation
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2974702
Abstract: This work presents a novel object-level control framework for the dexterous in-hand manipulation of objects with torque-controlled robotic hands. The proposed impedance-based controller realizes the compliant 6-DOF positioning of a grasped object. Enabled by the… read more here.
Keywords: control; hand; hand manipulation; object level ... See more keywords
Multi-Fingered In-Hand Manipulation with Various Object Properties Using Graph Convolutional Networks and Distributed Tactile Sensors
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3142417
Abstract: Multi-fingered hands could be used to achieve many dexterous manipulation tasks, similarly to humans, and tactile sensing could enhance the manipulation stability for a variety of objects. However, tactile sensors on multi-fingered hands have a… read more here.
Keywords: tactile sensors; hand; hand manipulation; object ... See more keywords
Controlling Palm-Object Interactions Via Friction for Enhanced In-Hand Manipulation
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3143578
Abstract: In-hand manipulation is necessary, yet challenging for robotic hands as robots begin to interact with real-world objects and environments. The intentional incorporation of an active palm can lead to improved dexterity. In this work, we… read more here.
Keywords: hand; hand manipulation; friction; manipulation ... See more keywords
Morphology Specific Stepwise Learning of In-Hand Manipulation With a Four-Fingered Hand
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Industrial Informatics"
DOI: 10.1109/tii.2019.2893713
Abstract: In past research, in-hand object manipulation for various sized and shaped objects has been achieved. However, the network had to be trained for each different motion. Training data takes time to acquire and increases the… read more here.
Keywords: manipulation; four fingered; training data; hand ... See more keywords
Electromyography Based Decoding of Dexterous, In-Hand Manipulation Motions With Temporal Multichannel Vision Transformers
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Neural Systems and Rehabilitation Engineering"
DOI: 10.1109/tnsre.2022.3196622
Abstract: Electromyography (EMG) signals have been used in designing muscle-machine interfaces (MuMIs) for various applications, ranging from entertainment (EMG controlled games) to human assistance and human augmentation (EMG controlled prostheses and exoskeletons). For this, classical machine… read more here.
Keywords: emg; hand; hand manipulation; dexterous hand ... See more keywords
Using a Variable-Friction Robot Hand to Determine Proprioceptive Features for Object Classification During Within-Hand-Manipulation
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Haptics"
DOI: 10.1109/toh.2019.2958669
Abstract: Interactions with an object during within-hand manipulation (WIHM) constitutes an assortment of gripping, sliding, and pivoting actions. In addition to manipulation benefits, the re-orientation and motion of the objects within-the-hand also provides a rich array… read more here.
Keywords: manipulation; object classification; hand; hand manipulation ... See more keywords
VR-HandNet: A Visually and Physically Plausible Hand Manipulation System in Virtual Reality.
Sign Up to like & getrecommendations! Published in 2023 at "IEEE transactions on visualization and computer graphics"
DOI: 10.1109/tvcg.2023.3255991
Abstract: This study aims to allow users to perform dexterous hand manipulation of objects in virtual environments with hand-held VR controllers. To this end, the VR controller is mapped to the virtual hand and the hand… read more here.
Keywords: physically plausible; hand manipulation; hand; virtual hand ... See more keywords
Sensorless In-Hand Manipulation by An Underactuated Robot Hand
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4046652
Abstract: The limited dexterity that existing hand prostheses provide to users contrasts with the manipulation abilities exhibited by state-of-the-art robot hands. This paper presents an underactuated robot hand with in-hand manipulation capabilities to demonstrate the use… read more here.
Keywords: sensorless hand; hand manipulation; hand; robot hand ... See more keywords
Algorithmic Selection of Sliding–Sticking Contacts in Robotic In-hand Manipulation
Sign Up to like & getrecommendations! Published in 2021 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4052337
Abstract: The paper describes a kinematic method for robotic in-hand manipulation of objects. The method focuses on repositioning the object using a combination of sticking and sliding robotic contacts. Two fingertips with sliding contacts are fixed… read more here.
Keywords: sticking contacts; algorithmic selection; hand manipulation; robotic hand ... See more keywords